Control method for a vehicle, computer program, non-transitory computer readable medium, and automated driving system

An automated driving system for a host vehicle, the automated driving system comprising an electronic control unit configured

• a) to acquire a speed Vx of the host vehicle, a relative speed Vr between a preceding vehicle and the host vehicle, and a relative distance Dr between the preceding vehicle and the host vehicle;
• b) to calculate a perceived risk level as a function of said speed Vx of the host vehicle, said relative speed Vr, said relative distance Dr, and at least one of parameters Vx*Vr and Vx2;
• c) to control at least one vehicle device of the host vehicle as a function of the perceived risk level;
• wherein the control unit is configured to calculate the perceived risk level PRL based on equation (1):
• PRL=(Dr−Pb*V)/(Pa*V);
• wherein (1)
• Pa, Pb are five components vectors;
• and
• V=(1;
• Vx;
• Vr;
• Vx*Vr;
• Vx2).